Sai Anirudh Kondaveeti's profile - activity

Are you getting good odometry results?

Is that normal? I am also adding the point-cloud generated by viso2 and stereo_image_proc

Ok. I realised that the point cloud generated by viso2 is very sparse. Also I see that even-though my setup is at rest there is movement in rviz. Also observed that point cloud generated by viso2 is in -ve z- direction where as the pointcloud generated by stereo_image_proc is in +ve z-direction

Also I have kept my min_disparity:= -128 and disparity_range:=128 to have maximum range. Should I be optimizing on that ?[Computation cost is not a problem for me at the moment.]

Thanks. I am working the on things you suggested.I kept approximate_sync:=true for the stereo_image_proc node.I used rostopic echo /stereo/left/camera_info and rostopic echo /stereo/right/camera_info and matched the seq to get time stamps. I hope that's correct way.Updated question

Thanks, but it didn't work for me.

I am still facing the same problem. I installed libfovis via apt-get then I 'git clone' the repository and then checked out to hydro branch. but still I get this error

I am trying to use viso2_ros . So I calibrated my stereo camera set.

Does the distance between the cameras matter much?Is this setup good enough?

The above are my calibration results.Is that fine? I didn't get any reprojection error as mention in this post. It just showed ? under epi . Is that okay.Around 180 samples were used in calibration.

Then I used stereo_image_proc package and then tried to optimize the parameters

A few more disparity maps

Are the disparity maps ok? Any suggestions on improving them? Is it okay to have grey background?

The following is the tf and rqt_graph

Is that correct? My knowledge on tf is basic and limited as I am a beginner. The following is the launch file used to generate the tf tree.

cambase is nothing but the left camera as suggested in this post.

I also checked the ~info topic messages of stereo odometer. the number of inlier's is very low i.e less than 10 and the number of matches is at max 25 . How do I improve upon it? I am always getting

Visual Odometer got lost!

even when the setup is at rest. How do I improve the inliers and get my system running? Are the things setup till now correct like the calibration and tf tree.

Configuration:

OS: Ubuntu 12.04

ROS distro: Hydro

Camera: PS3 eyecamera X 2 ---- 640x480 @ 60fps

P.S: If anything is not clear please let me know. This my first post. I have also read the following posts before asking and tried to improve from those suggestions

1. Post 1
2. Post 2
3. Post 3
4. Post 4

Update:

Point cloud generated by running viso2 . It is just some dots behind the camera.

point cloud generated by stereo_image_proc

This is the output of rostopic echo /stereo/left/camera_info and rostopic echo /stereo/right/camera_info . I hope it is correct to compare to seq with same id.

Also my stereo set is running at 640x480 @ 60fps

How did you change the parameters in real time?. thanks